`FindSlicePlanesAlongEdge` Class

Finds a series of waypoints (slice planes) along a selected edge between 4 corner waypoints. More...

Declaration

class moveit_pro::behaviors::FindSlicePlanesAlongEdge { ... }

Included Headers

#include <find_slice_planes_along_edge.hpp>

Base class

class	BT::SyncActionNode

Public Constructors Index

	FindSlicePlanesAlongEdge (const std::string &name, const BT::NodeConfiguration &config)
	Constructor. More...

Public Member Functions Index

BT::NodeStatus	tick () override
	Execute the behavior: generate slice plane waypoints along the selected edge. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
	Declare input and output ports. More...

static BT::KeyValueVector	metadata ()
	Provide metadata for the MoveIt Studio Developer Tool UI. More...

Description

Finds a series of waypoints (slice planes) along a selected edge between 4 corner waypoints.

This behavior takes 4 corner waypoints and generates evenly spaced waypoints along one of the 4 edges. The edge is selected by the edge_number input (1-4). The generated waypoints have their Z-axis aligned along the edge direction while being shifted halfway toward the opposite edge so that they cover the full surface.

Data Port Name	Port Type	Object Type
waypoints	input	std::vector<geometry_msgs::msg::PoseStamped>
edge_number	input	int
stride_spacing	input	double
shift_distance	input	std::vector<double>
output_waypoints	output	std::vector<geometry_msgs::msg::PoseStamped>

Definition at line 32 of file find_slice_planes_along_edge.hpp.

Public Constructors